#Header header  not sent directly
float64 t
float64 x
float64 y
float64 theta
float64 kappa
float64 kappa_dot
float64 v
float64 a
float64 jerk
float64 delta_theta     # heading misalignment with center line
float64 d               # offset to center line
float64 a_lat           # lateral (to traj not to center line!) acceleration
